U.S. patent application number 16/924465 was filed with the patent office on 2021-01-14 for vehicle-mounted equipment control device.
This patent application is currently assigned to Toyota Jidosha Kabushiki Kaisha. The applicant listed for this patent is Toyota Jidosha Kabushiki Kaisha. Invention is credited to Daigo Ishikawa, Tsuyoshi Sugimoto, Kazuhiko Ueda.
Application Number | 20210009165 16/924465 |
Document ID | / |
Family ID | 1000004971282 |
Filed Date | 2021-01-14 |
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United States Patent
Application |
20210009165 |
Kind Code |
A1 |
Sugimoto; Tsuyoshi ; et
al. |
January 14, 2021 |
VEHICLE-MOUNTED EQUIPMENT CONTROL DEVICE
Abstract
A vehicle-mounted equipment control device includes a controller
configured to cause equipment of any of a headlight, a wiper, and
an air-conditioning device to continue a visual securing operation
for securing visibility of a driver of a vehicle even after driving
control of the vehicle is switched from automated driving control
to manual driving control regardless of an operation mode of the
equipment specified by an operation switch for setting an operation
of the equipment when an operation mode executed by the equipment
immediately before driving control of the vehicle is switched from
automated driving control to manual driving control is an operation
mode corresponding to the visual securing operation.
Inventors: |
Sugimoto; Tsuyoshi;
(Kuwana-shi, JP) ; Ishikawa; Daigo; (Okazaki-shi,
JP) ; Ueda; Kazuhiko; (Chofu-shi, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Toyota Jidosha Kabushiki Kaisha |
Toyota-shi |
|
JP |
|
|
Assignee: |
Toyota Jidosha Kabushiki
Kaisha
Toyota-shi
JP
|
Family ID: |
1000004971282 |
Appl. No.: |
16/924465 |
Filed: |
July 9, 2020 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60Q 1/143 20130101;
B60W 60/0053 20200201; B60W 50/14 20130101; B60S 1/04 20130101;
B60W 10/30 20130101; B60W 2520/00 20130101; B60W 2420/42 20130101;
B60H 1/0073 20190501; B60W 2555/20 20200201; B60W 2510/1005
20130101 |
International
Class: |
B60W 60/00 20060101
B60W060/00; B60Q 1/14 20060101 B60Q001/14; B60S 1/04 20060101
B60S001/04; B60W 10/30 20060101 B60W010/30; B60W 50/14 20060101
B60W050/14; B60H 1/00 20060101 B60H001/00 |
Foreign Application Data
Date |
Code |
Application Number |
Jul 11, 2019 |
JP |
2019-129534 |
Claims
1. A vehicle-mounted equipment control device, comprising: a
controller configured to cause equipment of any of a headlight, a
wiper, and an air-conditioning device to continue a visual securing
operation for securing visibility of a driver of a vehicle even
after driving control of the vehicle is switched from automated
driving control to manual driving control regardless of an
operation mode of the equipment specified by an operation switch
for setting an operation of the equipment when an operation mode
executed by the equipment immediately before driving control of the
vehicle is switched from automated driving control to manual
driving control is an operation mode corresponding to the visual
securing operation.
2. The vehicle-mounted equipment control device according to claim
1, wherein the equipment is a headlight, and the controller changes
an operation mode of the headlight to an operation mode specified
by the operation switch when illuminance measured by an
illumination sensor installed in the vehicle is equal to or greater
than a predetermined threshold value after driving control of the
vehicle is switched from automated driving control to manual
driving control.
3. The vehicle-mounted equipment control device according to claim
1, wherein the equipment is a wiper, and the controller changes an
operation mode of the wiper to an operation mode specified by the
operation switch when a speed of the vehicle measured by a speed
sensor installed in the vehicle is equal to or less than a
predetermined speed and a position of a shift lever of the vehicle
is a position in which power of the vehicle is not transmitted to a
wheel of the vehicle or when a rainfall amount measured by a rain
sensor is equal to or less than a predetermined threshold value
after driving control of the vehicle is switched from automated
driving control to manual driving control.
4. The vehicle-mounted equipment control device according to claim
1, wherein the equipment is an air-conditioning device, and the
controller changes an operation mode of the air-conditioning device
to an operation mode specified by the operation switch when a
predetermined period elapses since driving control of the vehicle
is switched from automated driving control to manual driving
control.
5. The vehicle-mounted equipment control device according to claim
1, wherein the equipment is a headlight, and the controller detects
an oncoming vehicle and a lighting situation of a headlight of the
oncoming vehicle from each of a plurality of time-series images
acquired by a camera installed in the vehicle in a latest certain
period after driving control of the vehicle is switched from
automated driving control to manual driving control, and changes an
operation mode of the headlight to an operation mode specified by
the operation switch when a ratio of the number of oncoming
vehicles whose headlight is ON to a total number of detected
oncoming vehicles in the certain period is equal to or less than a
predetermined proportion.
6. The vehicle-mounted equipment control device according to claim
1, wherein the equipment is a wiper, and the controller detects an
oncoming vehicle and an operation situation of a wiper of the
oncoming vehicle from each of a plurality of time-series images
acquired by a camera installed in the vehicle in a latest certain
period after driving control of the vehicle is switched from
automated driving control to manual driving control, and changes an
operation mode of the wiper to an operation mode specified by the
operation switch when a ratio of the number of oncoming vehicles
whose wiper is operating to a total number of detected oncoming
vehicles in the certain period is equal to or less than a
predetermined proportion.
7. A vehicle-mounted equipment control device, comprising a
controller configured to determine whether or not a set operation
mode specified by an operation switch for setting an operation of
equipment of any of a headlight and a wiper coincides with an
execution operation mode executed by the equipment during execution
of automated driving control with respect to a vehicle, and notify
a driver of the vehicle that the set operation mode and the
execution operation mode are different via a notification device
when the set operation mode and the execution operation mode are
different.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application claims priority to Japanese Patent
Application No. 2019-129534 filed Jul. 11, 2019, which is
incorporated herein by reference in its entirety including the
specification, drawings and abstract.
FIELD
[0002] The present disclosure relates to a vehicle-mounted
equipment control device that controls vehicle-mounted equipment
mounted on a vehicle.
BACKGROUND
[0003] A technique of automated driving control of a vehicle has
been studied. When such automated driving control is performed,
vehicle-mounted equipment such as a headlight or a wiper is also
controlled in accordance with a situation around a vehicle in order
to facilitate accurate recognition of a situation in a traveling
direction of the vehicle.
[0004] The automated driving control and manual driving control in
which a driver performs driving control on a vehicle may be
switched therebetween. In such a case, it is required that the
vehicle-mounted equipment is controlled in such a way that the
driver can appropriately drive the vehicle after the automated
driving control is switched to the manual driving control. Thus,
the following technique has been proposed (see Japanese Unexamined
Patent Publication (Kokai) No. 2018-24351, for example). In the
technique, when a driving control unit switches the driving of a
vehicle from automated driving to manual driving while the
automated driving control is executed and a room light turns on,
light by a headlight increases for a predetermined period of time
so that luminous intensity in a predetermined region illuminated by
the headlight is higher than normal luminous intensity in the
predetermined region illuminated by the headlight in a case where
an operation of a vehicle is the manual driving.
SUMMARY
[0005] However, a driver may more easily visually recognizes
surroundings of a vehicle when the automated driving control is
switched to the manual driving control regardless of whether or not
a room light is ON.
[0006] Thus, an object of the present disclosure is to provide a
vehicle-mounted equipment control device capable of suppressing
difficulty in visually recognizing surroundings of a vehicle by a
driver when driving control of the vehicle is switched from the
automated driving control to the manual driving control.
[0007] According to one embodiment, a vehicle-mounted equipment
control device is provided. The vehicle-mounted equipment control
device includes: a controller configured to cause equipment of any
of a headlight, a wiper, and an air-conditioning device to continue
a visual securing operation for securing visibility of a driver of
a vehicle even after driving control of the vehicle is switched
from automated driving control to manual driving control regardless
of an operation mode of the equipment specified by an operation
switch for setting an operation of the equipment when an operation
mode executed by the equipment immediately before driving control
of the vehicle is switched from automated driving control to manual
driving control is an operation mode corresponding to the visual
securing operation.
[0008] In the vehicle-mounted equipment control device, in one
example, the equipment is a headlight, and the controller changes
an operation mode of the headlight to an operation mode specified
by the operation switch when illuminance measured by an
illumination sensor installed in the vehicle is equal to or greater
than a predetermined threshold value after driving control of the
vehicle is switched from automated driving control to manual
driving control.
[0009] In addition, in the vehicle-mounted equipment control
device, in one example, the equipment is a wiper, and the
controller changes an operation mode of the wiper to an operation
mode specified by the operation switch when a speed of the vehicle
measured by a speed sensor installed in the vehicle is equal to or
less than a predetermined speed and a position of a shift lever of
the vehicle is a position in which power of the vehicle is not
transmitted to a wheel of the vehicle or when a rainfall amount
measured by a rain sensor is equal to or less than a predetermined
threshold value after driving control of the vehicle is switched
from automated driving control to manual driving control.
[0010] Alternatively, in the vehicle-mounted equipment control
device, in one example, the equipment is an air-conditioning
device, and the controller changes an operation mode of the
air-conditioning device to an operation mode specified by the
operation switch when a predetermined period elapses since driving
control of the vehicle is switched from automated driving control
to manual driving control.
[0011] Further, in the vehicle-mounted equipment control device, in
one example, the equipment is a headlight, and the controller
detects an oncoming vehicle and a lighting situation of a headlight
of the oncoming vehicle from each of a plurality of time-series
images acquired by a camera installed in the vehicle in the latest
certain period after driving control of the vehicle is switched
from automated driving control to manual driving control, and
changes an operation mode of the headlight to an operation mode
specified by the operation switch when a ratio of the number of
oncoming vehicles whose headlight is ON to a total number of
detected oncoming vehicles in the certain period is equal to or
less than a predetermined proportion.
[0012] Furthermore, in the vehicle-mounted equipment control
device, in one example, the equipment is a wiper, and the
controller detects an oncoming vehicle and an operation situation
of a wiper of the oncoming vehicle from each of a plurality of
time-series images acquired by a camera installed in the vehicle in
the latest certain period after driving control of the vehicle is
switched from automated driving control to manual driving control,
and changes an operation mode of the wiper to an operation mode
specified by the operation switch when a ratio of the number of
oncoming vehicles whose wiper is operating to a total number of
detected oncoming vehicles in the certain period is equal to or
less than a predetermined proportion.
[0013] According to another embodiment, a vehicle-mounted equipment
control device is provided. The vehicle-mounted equipment control
device includes a controller configured to determine whether or not
a set operation mode specified by an operation switch for setting
an operation of equipment of any of a headlight and a wiper
coincides with an execution operation mode executed by the
equipment during execution of automated driving control with
respect to a vehicle, and notify a driver of the vehicle that the
set operation mode and the execution operation mode are different
via a notification device when the set operation mode and the
execution operation mode are different.
[0014] The vehicle-mounted equipment control device according to
the present disclosure provides an advantageous effect capable of
suppressing difficulty in visually recognizing surroundings of a
vehicle by a driver when driving control of the vehicle is switched
from the automated driving control to the manual driving
control.
BRIEF DESCRIPTION OF DRAWINGS
[0015] FIG. 1 is a schematic configuration diagram of a vehicle
control system in which a vehicle-mounted equipment control device
is installed.
[0016] FIG. 2 is an explanatory diagram of a switch position of an
operation switch for operating a headlight.
[0017] FIG. 3 is an explanatory diagram of a switch position of an
operation switch for operating a wiper.
[0018] FIG. 4 is a hardware configuration diagram of a BODY-ECU
being one embodiment of the vehicle-mounted equipment control
device.
[0019] FIG. 5 is an operation flowchart of vehicle-mounted
equipment control processing when automated driving control is
switched to manual driving control.
[0020] FIG. 6 is a diagram illustrating one example of a
relationship among a switch position of the operation switch
relating to the headlight, illuminance, applied driving control,
and a control state of the headlight.
[0021] FIG. 7 is an operation flowchart of processing of
determining termination of a visibility securing operation relating
to the headlight.
[0022] FIG. 8 is a diagram illustrating one example of a
relationship among a switch position of the operation switch
relating to the wiper, a rainfall amount, applied driving control,
and a control state of the wiper.
[0023] FIG. 9 is an operation flowchart of processing of
determining termination of a visibility securing operation relating
to the wiper.
DESCRIPTION OF EMBODIMENTS
[0024] A vehicle-mounted equipment control device will be described
below with reference to the drawings. The vehicle-mounted equipment
control device controls at least any of a headlight, a wiper, and
an air-conditioning device (hereinafter may be referred to as
vehicle-mounted equipment or controlled equipment). Then, in a case
where the controlled equipment performs an operation for securing
visibility of a driver (hereinafter referred to as a visibility
securing operation) during automated driving control, even when the
automated driving control is switched to manual driving control,
the vehicle-mounted equipment control device continues the
visibility securing operation regardless of an operation mode of
the controlled equipment specified by an operation unit
corresponding to the controlled equipment. In this way, the
vehicle-mounted equipment control device prevents that the driver
cannot visually recognize surroundings of a vehicle when the
automated driving control is switched to the manual driving
control.
[0025] Note that the visual securing operation is, for example, an
operation of illuminating a front region of a vehicle by lighting
for a headlight, is an operation of wiping a windshield for a
wiper, and is a defroster operation of removing fogging of the
windshield for an air-conditioning device. Further, continuation of
the visual securing operation includes maintaining an execution
level of the visibility securing operation during the automated
driving control without a decrease in the execution level. For
example, when the wiper operates at a low speed during the
automated driving control, the vehicle-mounted equipment control
device may maintain a low-speed operation of the wiper even in a
case where an operation mode specified by the operation unit is a
mode of intermittently operating the wiper. Furthermore, when an
operation mode of the controlled equipment specified by the
operation unit is different from an operation mode different from
the visibility securing operation in a case where automatic control
causes the controlled equipment to perform the visibility securing
operation, the vehicle-mounted equipment control device notifies a
driver that the operation mode of the controlled equipment under
execution and the operation mode specified by the operation unit do
not coincide with each other via a human machine interface.
[0026] FIG. 1 is a schematic configuration diagram of a vehicle
control system in which a vehicle-mounted equipment control device
is installed. In the present embodiment, a vehicle control system 1
that is installed in a vehicle 100 and controls the vehicle 100
includes a camera 11, a GPS receiver 12, a storage device 13, a
human machine interface (hereinafter referred to as an HMI) 14, at
least one sensor 15, an operation switch 16, a traveling control
electronic control unit (hereinafter referred to as a traveling
ECU) 17, and a vehicle body control electronic control unit
(hereinafter referred to as a BODY-ECU) 18. The camera 11, the GPS
receiver 12, the storage device 13, the HMI 14, the traveling ECU
17, and the BODY-ECU 18 are communicatively connected to one
another via an in-vehicle network conforming to a standard such as
the Controller Area Network. Further, the sensor 15 and the
operation switch 16 are connected to each other via the BODY-ECU 18
via a signal line. Further, the BODY-ECU 18 is connected to a
headlight 21, a wiper 22, and an air-conditioning device 23 via a
signal line. The vehicle control system 1 may further includes an
object detection sensor for detecting an object around the vehicle
100, such as a LiDAR sensor or a radar, and a wireless
communication device for communicating with out-of-vehicle
equipment. Still further, the vehicle 100 may include a receiver
conforming to another satellite measurement system instead of the
GPS receiver 12.
[0027] The camera 11 is one example of an imaging unit, and
includes a two-dimensional detector configured with an array of
photoelectric conversion elements having sensitivity to visible
light, such as a CCD or a C-MOS, and an imaging optical system that
forms an image of a region to be imaged on the two-dimensional
detector. Then, the camera 11 is mounted, for example, inside a
vehicle of the vehicle 100 in such a way that it is oriented in a
forward direction of the vehicle 100. Then, the camera 11 captures
a forward region of the vehicle 100 at every predetermined imaging
period (e.g., 1/30 seconds to 1/10 seconds), and generates an image
representing the forward region. The image generated by the camera
11 may be a color image or a gray image. Note that a plurality of
cameras having different imaging directions or different focal
distances may be provided in the vehicle 100.
[0028] Every time the camera 11 generates an image, the camera 11
outputs the generated image to the traveling ECU 17 via the
in-vehicle network.
[0029] The GPS receiver 12 receives a GPS signal from a global
positioning system (GPS) satellite at every predetermined period,
and measures a self-position of the vehicle 100 on the basis of the
received GPS signal. Then, the GPS receiver 12 outputs the
measurement result of the self-position of the vehicle 100 on the
basis of the GPS signal at every predetermined period to the
traveling ECU 17 via the in-vehicle network. Note that, when the
vehicle 100 includes a receiver conforming to a satellite
measurement system other than the GPS receiver 12, the receiver may
measure a self-position of the vehicle 100.
[0030] The storage device 13 includes, for example, a hard disk
device or a non-volatile semiconductor memory. Then, the storage
device 13 stores map information. The map information includes, for
each predetermined section of a road, a position in the section and
information representing a road marking such as a lane division
line or a stop line and information representing a road sign in the
section. Then, the storage device 13 reads the map information in
accordance with a request for reading the map information from the
traveling ECU 17, and passes the map information to the traveling
ECU 17 via the in-vehicle network.
[0031] The HMI 14 is one example of a notification unit, and
notifies a driver of the vehicle 100 of notification information
received from the traveling ECU 17 or the BODY-ECU 18. For this
purpose, the HMI 14 includes, for example, a display device such as
a liquid crystal display, a meter such as a speedometer, a warning
light, a speaker, and the like, and is provided so as to be
oriented toward the driver inside the vehicle of the vehicle 100,
e.g., in an instrumental panel. Then, for example, when the
automated driving control is performed on the vehicle 100 and an
operation mode being performed on any of the headlight 21, the
wiper 22, and the air-conditioning device 23 and an operation mode
specified by a switch for operating any of them are different, the
HMI 14 notifies the driver of this matter.
[0032] The sensor 15 measures a physical parameter representing an
environment outside the vehicle or an environment inside the
vehicle relating to a degree to which the camera 11 and the driver
can visually recognize surroundings of the vehicle 100. For
example, the sensor 15 includes at least any of an illumination
sensor for measuring luminance (illuminance) around the vehicle
100, a rain sensor for measuring a rainfall amount around the
vehicle 100, a thermometer for measuring a temperature around the
vehicle 100, and a thermometer for measuring a temperature inside
the vehicle. Then, every time the sensor 15 measures the physical
parameter (illuminance, a rainfall amount, a temperature and etc.)
to obtain a measurement value of the physical parameter, the sensor
15 outputs the measurement value to the BODY-ECU 18. For example,
when the BODY-ECU 18 automatically set an operation of
vehicle-mounted equipment such as the headlight 21, the wiper 22,
and the air-conditioning device 23, the measurement value is used
for determining whether or not the BODY-ECU 18 causes the
vehicle-mounted equipment to perform the visibility securing
operation.
[0033] The operation switch 16 is one example of an operation unit,
and is used for the driver to specify an operation mode applied to
the headlight 21, the wiper 22, and the air-conditioning device 23.
In the present embodiment, the operation switch 16 includes an
operation switch 16a for operating the headlight 21, an operation
switch 16b for operating the wiper 22, and an operation switch 16c
for controlling the air-conditioning device 23. The operation
switch 16a for operating the headlight 21 is provided on, for
example, a rear side and a right side of a steering wheel seen from
the driver. Further, the operation switch 16b for operating the
wiper 22 is provided on, for example, the rear side and a left side
of the steering wheel seen from the driver. Furthermore, the
operation switch 16c for operating the air-conditioning device 23
is provided in an instrumental panel between a driver's seat and a
passenger's seat, for example.
[0034] The operation switches 16a to 16c are each provided with a
plurality of switch positions that specify different operation
modes.
[0035] FIG. 2 is an explanatory diagram of a switch position of the
operation switch 16a for operating the headlight 21. For example,
in the operation switch 16a, a HEAD position, a TAIL position, an
AUTO position, and an OFF position are provided as switch
positions. The HEAD position is a switch position that specifies an
operation mode of compulsorily turning on the headlight 21 and a
tail lamp. The TAIL position is a switch position that specifies an
operation mode of turning on the tail lamp without turning on the
headlight 21. The AUTO position is a switch position that specifies
an operation mode of performing control in such a way as to
automatically turn on or turn off the headlight and the tail lamp
of the vehicle 100 in accordance with illuminance around the
vehicle 100 being measured by the illumination sensor. Then, the
OFF position is a switch position that specifies an operation mode
of turning off both of the headlight 21 and the tail lamp. Then,
the driver matches a mark 162 of an indication member 161 provided
in such a way as to be rotatable about an axis of the operation
switch 16a at a tip of the operation switch 16a with any of the
switch positions, and thus every time the switch position is
changed, the operation switch 16a outputs an operation signal
representing the operation mode in accordance with the switch
position.
[0036] Furthermore, the operation switch 16a may be able to set a
direction (such as upward and downward) of light distribution of
the headlight 21. Still further, the operation switch 16a may be
able to set an application of automatic orientation control of the
headlight 21.
[0037] FIG. 3 is an explanatory diagram of a switch position of the
operation switch 16b for operating the wiper 22. For example, in
the operation switch 16b, an INT position, an OFF position, an AUTO
position, a Lo position, and a Hi position are provided as switch
positions in order from the top. The AUTO position is a switch
position that specifies an operation mode of automatically
determining whether or not to cause the wiper 22 to perform an
operation of wiping the windshield of the vehicle 100 (hereinafter
simply referred to as an operation), and automatically adjusting an
operation speed of the wiper 22. The Hi position is a switch
position that specifies an operation mode of operating the wiper 22
at a relatively fast speed. The Lo position is a switch position
that specifies an operation mode of operating the wiper 22 at a
relatively slow speed. The INT position is a switch position that
specifies an operation mode of intermittently operating the wiper
22. Then, the OFF position is a switch position that specifies an
operation mode of stopping the wiper 22. Furthermore, the operation
switch 16b may be able to adjust an operation interval of the wiper
22 when the switch position is the INT position. Then, the driver
moves the operation switch 16b up or down, and thus the switch
position of the operation switch 16b changes. Every time the switch
position is changed, the operation switch 16b outputs an operation
signal representing the operation mode in accordance with the
switch position.
[0038] Furthermore, in the operation switch 16c for operating the
air-conditioning device 23, for example, a defroster switch capable
of switching whether or not to cause the air-conditioning device 23
to compulsorily perform the defroster operation, and a mode
switching switch that switches whether or not to apply the AUTO
mode of automatically controlling the air-conditioning device 23 in
such a way that a temperature inside the vehicle of the vehicle 100
becomes a set temperature are provided. Then, every time the switch
position of the defroster switch or the switch position of the mode
switching switch is changed by the driver, the operation switch 16c
outputs an operation signal representing the operation mode in
accordance with the switch position.
[0039] The traveling ECU 17 performs control relating to traveling
of the vehicle 100. For this purpose, the traveling ECU 17
includes, for example, one or a plurality of processors, a memory,
and a communication interface. In the present embodiment, the
traveling ECU 17 switches the vehicle 100 between the automated
driving control and the manual driving control. For example, the
traveling ECU 17 switches from the manual driving control to the
automated driving control when the vehicle 100 enters a section in
which the automated driving control is allowed and is represented
in map information. On the contrary, the traveling ECU 17 switches
from the automated driving control to the manual driving control
when the vehicle 100 goes out of the section in which the automated
driving control is allowed. Note that the traveling ECU 17 may
determine whether or not the vehicle 100 is included in the section
in which the automated driving control is allowed on the basis of
map information and positioning information by the GPS receiver 12
or its own position of the vehicle 100 which is estimated by
matching a feature such as a lane division line represented in the
map information with a feature represented in an image generated by
the camera 11. Further, in a case where the automated driving
control is applied, when the automated driving control is turned
off by operating a switch capable of switching between ON and OFF
of the automated driving control (not illustrated) by the driver,
the traveling ECU 17 switches from the automated driving control to
the manual driving control. The traveling ECU 17 performs, for
example, the automated driving control on the vehicle 100 in such a
way that the vehicle 100 travels along a traveling route set by a
navigation system (not illustrated) while the automated driving
control is applied. At this time, the traveling ECU 17 detects an
object around the vehicle 100 from a time-series of images acquired
by the camera 11, predicts a track of the detected object, and sets
a trajectory of the vehicle 100 in such a way that the vehicle 100
does not collide with the object. Then, the traveling ECU 17
determines a control amount such as an accelerator opening, a
steering angle of a steering wheel, or a brake amount in such a way
that the vehicle 100 travels along the trajectory, and controls an
actuator that controls an accelerator, a steering wheel, a brake,
or the like in accordance with the control amount. Furthermore,
when the automated driving control is switched to the manual
driving control or when the manual driving control is switched to
the automated driving control, the traveling ECU 17 notifies the
driver that the switching is performed via the HMI 14, and
transmits a signal representing a type of driving control
(automatic or manual) applied after the switching to the BODY-ECU
18.
[0040] Still further, when receiving, via the in-vehicle network
from the BODY-ECU 18, a signal representing that an operation mode
according to the switch position of the operation switch 16 (set
operation mode) and an operation mode of corresponding
vehicle-mounted equipment under execution (execution operation
mode) are different from each other, the traveling ECU 17 notifies
the driver that the set operation mode and the execution operation
mode are different from each other via the HMI 14. For example, the
traveling ECU 17 causes a display device included in the HMI 14 to
display a message representing that the set operation mode and the
execution operation mode are different, or causes a speaker
included in the HMI 14 to output the message as a voice. Similarly,
when receiving, via the in-vehicle network from the BODY-ECU 18, a
signal representing that the visibility securing operation
continues after switching to the manual driving control or that
continuation of the visibility securing operation is terminated,
the traveling ECU 17 notifies the driver of the matter via the HMI
14.
[0041] The BODY-ECU 18 is one example of the vehicle-mounted
equipment control device, and controls vehicle-mounted equipment
such as the headlight 21, the wiper 22, and the air-conditioning
device 23.
[0042] FIG. 4 is a hardware configuration diagram of the BODY-ECU
18 according to an embodiment of the vehicle-mounted equipment
control device. The BODY-ECU 18 includes a communication interface
31, a memory 32, and a processor 33. Note that the communication
interface 31, the memory 32, and the processor 33 may be different
circuits or may be configured as one integrated circuit.
[0043] The communication interface 31 is one example of an
in-vehicle communication unit, and includes a communication
interface circuit for connecting the BODY-ECU 18 to the in-vehicle
network and an interface circuit that can receive a signal from the
sensor 15 or the operation switch 16 or output a control signal to
the headlight 21, the wiper 22, or the air-conditioning device 23.
Then, when receiving a signal representing a type of applied
driving control from the traveling ECU 17 via the in-vehicle
network, the communication interface 31 passes the signal to the
processor 33. Furthermore, every time the communication interface
31 receives a signal representing a measurement value such as
illuminance, a rainfall amount, or a temperature from the sensor
15, the communication interface 31 passes the signal to the
processor 33. Furthermore, every time the communication interface
31 receives a signal representing an operation mode specified by
the operation switch 16, the communication interface 31 passes the
signal to the processor 33.
[0044] Further, when receiving a signal representing a matter to be
notified to the driver, such as, for any vehicle-mounted equipment
from the processor 33, a set operation mode and an execution
operation mode are different and the like, the communication
interface 31 outputs the signal to the traveling ECU 17 via the
in-vehicle network. Furthermore, when receiving a control signal to
any vehicle-mounted equipment from the processor 33, the
communication interface 31 outputs the control signal to the
vehicle-mounted equipment.
[0045] The memory 32 is one example of a storage unit, and
includes, for example, a volatile semiconductor memory and a
non-volatile semiconductor memory. Then, the memory 32 stores a
program of vehicle-mounted equipment control processing (including
processing of determining termination of a visibility securing
operation) executed by the processor 33 of the BODY-ECU 18, various
kinds of data used in the vehicle-mounted equipment control
processing, a measurement value of the physical parameter, and the
like.
[0046] The processor 33 is one example of a control unit, and
includes one or a plurality of central processing units (CPUs) and
peripheral circuits thereof. The processor 33 may further include
another arithmetic circuit such as a logical arithmetic unit or a
numerical arithmetic unit. Then, the processor 33 executes the
vehicle-mounted equipment control processing to control the
headlight 21, the wiper 22, and the air-conditioning device 23.
[0047] The processor 33 controls the headlight 21, the wiper 22,
and the air-conditioning device 23 in accordance with an operation
mode specified by the operation switches 16a to 16c while the
traveling ECU 17 performs the manual driving control. Further, the
processor 33 automatically determines whether or not to cause the
headlight 21, the wiper 22, and the air-conditioning device 23 to
perform the visibility securing operation according to a
measurement value of the physical parameter by the sensor 15 while
the traveling ECU 17 performs the automated driving control. Note
that, when any of the operation switches 16a to 16c specifies an
operation mode of causing corresponding controlled equipment to
perform the visibility securing operation, the processor 33 may
cause the corresponding controlled equipment to perform the
visibility securing operation. Further, in a case where the
controlled equipment of any of the headlight 21, the wiper 22, and
the air-conditioning device 23 is performing the visual securing
operation when the automated driving control is switched to the
manual driving control, that is, when the traveling ECU 17 notifies
that the manual driving control is applied during execution of the
automated driving control, the processor 33 causes the controlled
equipment to continue the visibility securing operation regardless
of an operation mode specified by the operation switch
corresponding to the controlled equipment.
[0048] FIG. 5 is an operation flowchart of the vehicle-mounted
equipment control processing when the automated driving control is
switched to the manual driving control. When the processor 33 is
notified that the manual driving control is applied from the
traveling ECU 17 during the application of the automated driving
control, the processor 33 controls each of the headlight 21, the
wiper 22, and the air-conditioning device 23 in accordance with the
following operation flowchart.
[0049] When the processor 33 is notified that the manual driving
control is applied from the traveling ECU 17 during the application
of the automated driving control, the processor 33 determines
whether or not the controlled equipment (the headlight 21, the
wiper 22, and the air-conditioning device 23) is performing the
visibility securing operation (step S101). When the controlled
equipment is performing the visibility securing operation (step
S101--Yes), the processor 33 controls the controlled equipment in
such a way that the controlled equipment continues the visibility
securing operation (step S102).
[0050] On the other hand, when the controlled equipment is not
performing the visibility securing operation (step S101--No), the
processor 33 controls the controlled equipment in accordance with
an operation mode according to a switch position set for an
operation switch corresponding to the controlled equipment (step
S103).
[0051] After step S102 or S103, the processor 33 terminates the
vehicle-mounted equipment control processing.
[0052] Note that, when a predetermined condition is satisfied for
the controlled equipment that continues the visibility securing
operation after the automated driving control is switched to the
manual driving control, the processor 33 terminates continuation of
the visibility securing operation.
[0053] Details of control of the headlight 21 will be described
below.
[0054] FIG. 6 is a diagram illustrating one example of a
relationship among a switch position of the operation switch 16a
relating to the headlight 21, illuminance, applied driving control,
and a control state of the headlight 21. In a table 600 illustrated
in FIG. 6, a lighting state of the headlight 21, a match or a
mismatch of an operation mode, and whether or not to enable
acceptance of an operation of the operation switch 16a in each of
cases where a set switch position is the OFF position, is the TAIL
position, is the AUTO position, and is the HEAD position are
illustrated in order from the top. Further, a lighting state of the
headlight 21, a match or a mismatch of an operation mode, and
whether or not to enable acceptance of an operation of the
operation switch 16 in a case where the manual driving control is
applied (before the automated driving control), in a case where the
automated driving control is applied, and immediately after the
automated driving control is switched to the manual driving
control, are illustrated in order from the left.
[0055] In the present embodiment, the processor 33 automatically
determines whether or not to turn on an illumination lamp of the
vehicle 100, such as the headlight 21, on the basis of a
measurement value of illuminance while the traveling ECU 17
performs the automated driving control, similarly to when the
switch position of the operation switch 16a is set to the AUTO
position. For example, the processor 33 turns off the headlight 21
and turns on the tail lamp when the illuminance is equal to or
greater than a first illuminance threshold value and is less than a
second illuminance threshold value higher than the first
illuminance threshold value. Further, the processor 33 turns on the
headlight 21 and the tail lamp when the illuminance is less than
the first illuminance threshold value. Furthermore, the processor
33 turns off the headlight 21 and the tail lamp when the
illuminance is equal to or greater than the second illuminance
threshold value. However, when the switch position of the operation
switch 16a is the HEAD position, the processor 33 may turn on the
headlight 21 and the tail lamp regardless of a measurement value of
the illuminance.
[0056] Further, the processor 33 controls an illumination lamp such
as the headlight 21 in accordance with an operation mode according
to a switch position set for the operation switch 16a while the
traveling ECU 17 performs the manual driving control.
[0057] In the present embodiment, when the applied driving control
is switched from the automated driving control to the manual
driving control in a case where the visual securing operation is
performed during the previous automated driving control, i.e., when
the processor 33 is notified that the manual driving control is
applied from the traveling ECU 17 during execution of the automated
driving control, the processor 33 controls the headlight 21 in such
a way that the visibility securing operation continues even after
switching to the manual driving control regardless of a switch
position of the operation switch 16a. For example, when the
headlight 21 is ON during execution of the previous automated
driving control, the processor 33 continues lighting of the
headlight 21 even when the switch position of the operation switch
16a is the OFF position or the TAIL position.
[0058] When the visibility securing operation of the headlight 21
continues even after switching to the manual driving control, the
processor 33 determines whether or not to terminate continuation of
the visibility securing operation on the basis of a measurement
value of illuminance, for example.
[0059] FIG. 7 is an operation flowchart of the processing of
determining termination of a visibility securing operation relating
to the headlight 21. When the headlight 21 continues the visibility
securing operation after the automated driving control is switched
to the manual driving control, the processor 33 determines whether
or not to terminate the visibility securing operation in accordance
with the following operation flowchart at every predetermined
period.
[0060] The processor 33 determines whether or not a measurement
value of illuminance is equal to or greater than a predetermined
illuminance threshold value (step S201). When the measurement value
of the illuminance is less than the predetermined illuminance
threshold value (step S201--No), the processor 33 causes the
headlight 21 to continue the visibility securing operation (step
S202). In other words, the processor 33 maintains the state where
the headlight 21 remains ON. On the other hand, when the
measurement value of the illuminance is equal to or greater than
the predetermined illuminance threshold value (step S201--Yes),
i.e., when brightness around the vehicle 100 is enough brightness
without lighting of the headlight 21, the processor 33 turns off
the headlight 21 and terminates the visibility securing operation.
Then, the processor 33 controls the headlight 21 in accordance with
an operation mode specified by the operation switch 16a (step
S203). After step S202 or S203, the processor 33 terminates the
processing of determining termination of a visibility securing
operation. Note that the predetermined illuminance threshold value
can be, for example, the first illuminance threshold value or the
second illuminance threshold value described above.
[0061] According to a modification example, the processor 33 may
terminate continuation of the visibility securing operation of the
headlight 21 after a lapse of a predetermined period from timing at
which the automated driving control is switched to the manual
driving control. Alternatively, when an operation mode according to
a switch position of the operation switch 16a by an operation of
the operation switch 16a by the driver coincides with an operation
mode of the headlight 21 under execution, the processor 33 may
terminate continuation of the visibility securing operation of the
headlight 21.
[0062] According to another modification example, in a case where
the headlight 21 continues the visibility securing operation after
switching to the manual driving control, the processor 33 may
terminate continuation of the visibility securing operation of the
headlight 21 when the processor 33 is notified, from the traveling
ECU 17, that a vehicle speed of the vehicle 100 is equal to or less
than a predetermined speed threshold value and a shift position of
a shift lever is a shift position in which power of the vehicle 100
is not transmitted to a wheel. Note that the shift position in
which the power of the vehicle 100 is not transmitted to the wheel
is, for example, a neutral position or a parking position. Further,
the predetermined speed threshold value can be, for example, 5
km/h. Alternatively, when the processor 33 is notified that an
ignition switch is turned off from the traveling ECU 17, the
processor 33 may terminate continuation of the visibility securing
operation of the headlight 21.
[0063] The processor 33 may control the headlight 21 in accordance
with an operation mode according to a switch position set for the
operation switch 16a after the continuation of the visibility
securing operation is terminated.
[0064] Note that, when the driver operates an operation switch that
sets a direction of light distribution of the headlight 21 (not
illustrated) during execution of the automated driving control, the
processor 33 may store a flag representing the direction of light
distribution specified according to the operation in the memory 32.
Then, the processor 33 may refer to the flag after switching to the
manual driving control, and control the headlight 21 in such a way
as to set the direction of light distribution according to the
operation.
[0065] Next, details of control of the wiper 22 will be described.
FIG. 8 is a diagram illustrating one example of a relationship
among a switch position of the operation switch 16 relating to the
wiper 22, a rainfall amount, applied driving control, and a control
state of the wiper 22. In a table 800 illustrated in FIG. 8, an
operation state of the wiper 22, a match or a mismatch of an
operation mode, and whether or not to enable acceptance of an
operation of the operation switch 16b in each of cases where a
switch position is the OFF position, is the INT position, is the
AUTO position, is the Lo position or the Hi position are
illustrated in order from the top. Further, an operation state of
the wiper 22, a match or a mismatch of an operation mode, and
whether or not to enable acceptance of an operation of the
operation switch 16b in a case where the manual driving control is
applied (before the automated driving control), in a case where the
automated driving control is applied, and immediately after the
automated driving control is switched to the manual driving control
are illustrated in order from the left.
[0066] In the present embodiment, the processor 33 controls the
wiper 22 on the basis of a rainfall amount measured by the rain
sensor, similarly to when the switch position of the operation
switch 16b is set to the AUTO position while the traveling ECU 17
performs the automated driving control. For example, the processor
33 stops the operation of the wiper 22 when a measurement value of
the rainfall amount is less than a first rainfall amount threshold
value. Further, the processor 33 intermittently operates the wiper
22 when the measurement value of the rainfall amount is equal to or
greater than the first rainfall amount threshold value and is also
less than a second rainfall amount threshold value higher than the
first rainfall amount threshold value. Further, the processor 33
operates the wiper 22 at a relatively slow speed (namely, at a
speed when the switch position is set to the Lo position) when the
measurement value of the rainfall amount is equal to or greater
than the second rainfall amount threshold value and is less than a
third rainfall amount threshold value higher than the second
rainfall amount threshold value. Furthermore, the processor 33
operates the wiper 22 at a relatively fast speed (i.e., at a speed
when the switch position is set to the Hi position) when the
measurement value of the rainfall amount is equal to or greater
than the third rainfall amount threshold value. However, when the
switch position of the operation switch 16b is the Hi position or
the Lo position, the processor 33 may operate the wiper 22 at a
speed in accordance with the set switch position regardless of a
measurement value of the rainfall amount.
[0067] Further, the processor 33 controls the wiper 22 in
accordance with an operation mode according to a switch position of
the operation switch 16b while the traveling ECU 17 performs the
manual driving control.
[0068] However, in the present embodiment, in a case where the
wiper 22 performs the visual securing operation during the previous
automated driving control when the applied driving control is
switched from the automated driving control to the manual driving
control, i.e., when the processor 33 is notified that the manual
driving control is applied from the traveling ECU 17 during
execution of the automated driving control, the processor 33
controls the wiper 22 in such a way that the visibility securing
operation continues regardless of a switch position of the
operation switch 16b. For example, when the wiper 22 performs an
operation corresponding to any of the Hi position, the Lo position,
and the INT position during execution of the previous automated
driving control, the processor 33 causes the wiper 22 to continue
the operation. Note that, when a switch position is set to the AUTO
position, the Hi position, or the Lo position, the processor 33 may
operate the wiper 22 in accordance with the switch position
immediately after the automated driving control is switched to the
manual driving control.
[0069] When the visibility securing operation of the wiper 22
continues even after switching to the manual driving control, the
processor 33 determines whether or not to terminate continuation of
the visibility securing operation on the basis of a measurement
value of the rainfall amount, the vehicle speed, and the like, for
example.
[0070] FIG. 9 is an operation flowchart of the processing of
determining termination of a visibility securing operation relating
to the wiper 22. When the wiper 22 continues the visibility
securing operation after the automated driving control is switched
to the manual driving control, the processor 33 determines whether
or not to terminate the visibility securing operation in accordance
with the following operation flowchart at every predetermined
period.
[0071] The processor 33 determines whether or not a measurement
value of a rainfall amount is less than a predetermined rainfall
amount threshold value (step S301). When the measurement value of
the rainfall is equal to or greater than the predetermined rainfall
amount threshold value (step S301--No), the processor 33 determines
whether or not to be notified, from the traveling ECU 17, that a
vehicle speed of the vehicle 100 is equal to or less than a
predetermined speed threshold value (e.g., 5 km/h) and a shift
position of the shift lever is the neutral position or the parking
position (step S302). When the vehicle speed is higher than the
speed threshold value or the shift position is neither the neutral
position nor the parking position (step S302--No), the processor 33
causes the wiper 22 to continue the visibility securing operation
(step S303). In other words, the processor 33 maintains the state
where the wiper 22 operates. On the other hand, when the vehicle
speed is equal to or less than the speed threshold value and the
shift position is the neutral position or the parking position
(step S302--Yes), the processor 33 terminates the visibility
securing operation of the wiper 22. Then, the processor 33 controls
the wiper 22 in accordance with an operation mode according to a
switch position set for the operation switch 16b (step S304).
[0072] Further, in step S301, when the measurement value of the
rainfall amount is less than the predetermined rainfall amount
threshold value (step S301--Yes), i.e., when the rainfall amount
around the vehicle 100 is a rainfall amount to the extent to which
the wiper 22 does not need to operate, the processor 33 terminates
the visibility securing operation of the wiper 22. Then, the
processor 33 controls the wiper 22 in accordance with an operation
mode according to a switch position set for the operation switch
16b (step S304). After step S303 or S304, the processor 33
terminates the processing of determining termination of a
visibility securing operation. Note that the predetermined rainfall
amount threshold value can be, for example, the first rainfall
amount threshold value described above.
[0073] According to a modification example, the processor 33 may
terminate continuation of the visibility securing operation of the
wiper 22 after a lapse of a predetermined period from timing at
which the automated driving control is switched to the manual
driving control. Alternatively, when an operation mode according to
a switch position of the operation switch 16b by an operation of
the operation switch 16b by the driver coincides with an operation
mode of the wiper 22 under execution, the processor 33 may
terminate continuation of the visibility securing operation of the
wiper 22.
[0074] According to another modification example, when the
processor 33 is notified that the ignition switch is turned off
from the traveling ECU 17, the processor 33 may terminate
continuation of the visibility securing operation of the wiper
22.
[0075] The processor 33 may control the wiper 22 in accordance with
an operation mode according to a switch position set for the
operation switch 16b after the continuation of the visibility
securing operation is terminated.
[0076] Next, details of control of the air-conditioning device 23
will be described.
[0077] In the present embodiment, the processor 33 automatically
controls whether or not to cause the air-conditioning device 23 to
perform the defroster operation on the basis of a temperature
inside the vehicle of the vehicle 100 and an temperature outside
the vehicle while the traveling ECU 17 performs the automated
driving control, similarly to when the mode switching switch of the
operation switch 16c is set to a switch position to which an AUTO
mode is applied. For example, the processor 33 causes the
air-conditioning device 23 to perform the defroster operation when
a temperature inside the vehicle and a temperature outside the
vehicle satisfy a predetermined condition that fogging is likely to
occur on the windshield of the vehicle 100. Further, the processor
33 does not cause the air-conditioning device 23 to perform the
defroster operation when a temperature inside the vehicle and a
temperature outside the vehicle do not satisfy the predetermined
condition.
[0078] Further, the processor 33 controls the air-conditioning
device 23 in accordance with an operation mode according to a
switch position of the operation switch 16c while the traveling ECU
17 performs the manual driving control.
[0079] In the present embodiment, when the processor 33 is notified
that the manual driving control is applied from the traveling ECU
17 during execution of the automated driving control, the processor
33 determines whether or not the air-conditioning device 23
performs the defroster operation (i.e., the visibility securing
operation) during the previous automated driving control. Then,
when the air-conditioning device 23 performs the defroster
operation, the processor 33 controls the air-conditioning device 23
in such a way that the air-conditioning device 23 continues the
defroster operation regardless of a switch position of the
operation switch 16c.
[0080] In a case where the air-conditioning device 23 continues the
defroster operation after switching to the manual driving control,
the processor 33 may terminate continuation of the visibility
securing operation of the air-conditioning device 23 when a
predetermined period elapses from timing of the switching to the
manual driving control or when an operation mode according to a
switch position of the operation switch 16c coincides with an
operation mode of the air-conditioning device 23 under execution.
The processor 33 may control the air-conditioning device 23 in
accordance with the operation mode according to the switch position
of the operation switch 16c after the continuation of the
visibility securing operation is terminated.
[0081] Alternatively, in a case where the air-conditioning device
23 continues the defroster operation after switching to the manual
driving control, the processor 33 may terminate continuation of the
visibility securing operation when a temperature inside the vehicle
of the vehicle 100 and a temperature outside the vehicle do not
satisfy the predetermined condition that the air-conditioning
device 23 is caused to perform the defroster operation.
[0082] Alternatively, in a case where the air-conditioning device
23 continues the defroster operation after switching to the manual
driving control, the processor 33 may terminate continuation of the
defroster operation of the air-conditioning device 23 when the
processor 33 is notified, from the traveling ECU 17, that a vehicle
speed of the vehicle 100 is equal to or less than a predetermined
speed threshold value (e.g., 5 km/h) and a shift position of the
shift lever is the neutral position or the parking position.
Alternatively, when the processor 33 is notified that the ignition
switch is turned off from the traveling ECU 17, the processor 33
may terminate continuation of the defroster operation of the
air-conditioning device 23.
[0083] When an operation mode according to the switch position of
the operation switches 16a to 16c (set operation mode) and an
operation mode of corresponding vehicle-mounted equipment under
execution (execution operation mode) are different, the processor
33 generates a mismatch notification signal representing that the
set operation mode and the execution operation mode of the
corresponding vehicle-mounted equipment are different. Then, the
processor 33 outputs the mismatch notification signal to the
traveling ECU 17 via the communication interface 31. For example,
when the processor 33 is notified that a switch position is changed
to the OFF position or the TAIL position relating to the headlight
21 from the operation switch 16a by an operation of the driver
during execution of the automated driving control, the processor 33
outputs a mismatch notification signal relating to the headlight 21
to the traveling ECU 17 via the communication interface 31. Then,
when receiving the mismatch notification signal relating to the
headlight 21, the traveling ECU 17 causes the HMI 14 to display a
message that "during light AUTO control at present". Further, when
the processor 33 is notified that a switch position is changed to
the OFF position or the INT position relating to the wiper 22 from
the operation switch 16b by an operation of the driver during
execution of the automated driving control, the processor 33
outputs a mismatch notification signal relating to the wiper 22 to
the traveling ECU 17 via the communication interface 31. Then, when
receiving the mismatch notification signal relating to the wiper
22, the traveling ECU 17 causes the HMI 14 to display a message
that "during wiper AUTO control at present".
[0084] Further, when any vehicle-mounted equipment continues the
visibility securing operation after switching to the manual driving
control and a set operation mode of the vehicle-mounted equipment
is not an operation mode corresponding to the visibility securing
operation, the processor 33 generates a continuation notification
signal representing that the visibility securing operation
continues. Then, the processor 33 outputs the continuation
notification signal to the traveling ECU 17 via the communication
interface 31. For example, when a switch position of the operation
switch 16a is the OFF position or the TAIL position and the
headlight 21 is ON during the previous automated driving control,
the processor 33 outputs a continuation notification signal
relating to the headlight 21 to the traveling ECU 17 via the
communication interface 31. Then, when receiving the continuation
notification signal relating to the headlight 21, the traveling ECU
17 causes the HMI 14 to display a message that "AUTO control
continues". Further, when a switch position of the operation switch
16b is the OFF position or the INT position relating to the wiper
22 and the wiper 22 performs an operation corresponding to the Hi
position or the Lo position during the previous automated driving
control, the processor 33 outputs a continuation notification
signal relating to the wiper 22 to the traveling ECU 17 via the
communication interface 31. Then, when receiving the continuation
notification signal relating to the wiper 22, the traveling ECU 17
causes the HMI 14 to display a message that "wiper AUTO control
continues".
[0085] Furthermore, when the processor 33 terminates continuation
of the visibility securing operation of any vehicle-mounted
equipment, the processor 33 generates a termination notification
signal representing that the continuation of the visibility
securing operation is terminated, and outputs the termination
notification signal to the traveling ECU 17 via the communication
interface 31. For example, when continuation of the visibility
securing operation of the headlight 21 is terminated, the processor
33 outputs a termination notification signal relating to the
headlight 21 to the traveling ECU 17 via the communication
interface 31. Then, when receiving the termination notification
signal relating to the headlight 21, the traveling ECU 17 causes
the HMI 14 to display a message that "AUTO control is terminated".
Further, when continuation of the visibility securing operation of
the wiper 22 is terminated, the processor 33 outputs a termination
notification signal relating to the wiper 22 to the traveling ECU
17 via the communication interface 31. Then, when receiving the
termination notification signal relating to the wiper 22, the
traveling ECU 17 causes the HMI 14 to display a message that "wiper
AUTO control is terminated".
[0086] Still further, in a case where a switch position of the
operation switch 16a is the OFF position or the TAIL position when
the manual driving control is switched to the automated driving
control, the processor 33 may output a start notification signal
representing a start of automatic control relating to the headlight
21 to the traveling ECU 17 via the communication interface 31.
Then, when receiving the start notification signal relating to the
headlight 21, the traveling ECU 17 may cause the HMI 14 to display
a message that "light AUTO control has started". Further, in a case
where a switch position of the operation switch 16b is the OFF
position or the INT position when the manual driving control is
switched to the automated driving control, the processor 33 may
output a start notification signal representing a start of
automatic control relating to the wiper 22 to the traveling ECU 17
via the communication interface 31. Then, when receiving the start
notification signal relating to the wiper 22, the traveling ECU 17
causes the HMI 14 to display a message that "wiper AUTO control has
started".
[0087] As described above, the vehicle-mounted equipment control
device is installed in a vehicle to which the automated driving
control is applicable, and controls vehicle-mounted equipment such
as a headlight, a wiper, and an air-conditioning device. Then, when
the automated driving control is switched to the manual driving
control in a case where the vehicle-mounted equipment performs the
visibility securing operation during the previous automated driving
control, the vehicle-mounted equipment control device causes the
vehicle-mounted equipment to continue the visibility securing
operation regardless of an operation mode specified by an operation
switch that operates the vehicle-mounted equipment even when
switching to the manual driving control. Thus, the vehicle-mounted
equipment control device can prevent difficulty in visually
recognizing surroundings of a vehicle by a driver when the
automated driving control is switched to the manual driving
control.
[0088] According to a modification example, during execution of the
automated driving control, when the headlight 21 continues the
visibility securing operation after the automated driving control
is switched to the manual driving control or when a switch position
of the operation switch 16a is the AUTO position, the processor 33
of the BODY-ECU 18 may control the headlight 21 according to a
lighting situation of a headlight of another vehicle around the
vehicle 100.
[0089] In this case, for example, by inputting an image acquired
from the camera 11 to a classifier that has been trained in such a
way as to detect an oncoming vehicle and a headlight of the
oncoming vehicle represented in an image, the processor 33 detects
an oncoming vehicle around the vehicle 100 and a headlight thereof
from the input image. Then, the processor 33 calculates a luminance
average value of a region representing the detected headlight for
each oncoming vehicle represented in the image, and determines that
the headlight of the oncoming vehicle is ON when the luminance
average value is equal to or greater than a predetermined luminance
threshold value. Alternatively, the processor 33 may calculate, for
each oncoming vehicle represented in the image, an absolute value
of a difference between a luminance average value of a region
representing the detected headlight and a luminance average value
of a region around the region representing the detected headlight,
and determine that the headlight of the oncoming vehicle is ON when
the absolute value of the difference is equal to or greater than a
predetermined difference threshold value. Alternatively, the
classifier may have been trained in such a way as to also determine
whether or not a headlight is ON. Note that the processor 33 can
use, as the classifier, a so-called deep neural network having a
convolutional neural network architecture, for example. For
example, the classifier may have been trained in accordance with a
predetermined supervised learning technique such as error back
propagation by using a plurality of supervised images representing
that a headlight of a vehicle turns on and a plurality of
supervised images representing that a headlight of a vehicle turns
off. Further, a parameter set for identifying the classifier, such
as a weighting factor of an individual node in each layer, may be
previously stored in the memory 32.
[0090] The processor 33 calculates a ratio of the number of
oncoming vehicles whose headlight is ON to a total number of
oncoming vehicles detected for each of a series of images acquired
in the latest certain period (e.g., 1 to 10 seconds). Then, when
the ratio is higher than a predetermined proportion (e.g., 0.4 to
0.6), the processor 33 controls the headlight 21 in such a way as
to turn on the headlight 21. On the other hand, when the ratio is
equal to or less than the predetermined proportion, the processor
33 controls the headlight 21 in such a way as to turn off the
headlight 21.
[0091] Furthermore, in a case where the headlight 21 continues the
visibility securing operation after the automated driving control
is switched to the manual driving control, when the ratio of the
number of oncoming vehicles whose headlight is ON to a total number
of detected oncoming vehicles is equal to or less than the
predetermined proportion, the processor 33 may terminate
continuation of the visibility securing operation of the headlight
21. Subsequently, the processor 33 may control the headlight 21 in
accordance with an operation mode according to a switch position of
the operation switch 16a.
[0092] Similarly, during execution of the automated driving
control, when the wiper 22 continues the visibility securing
operation after the automated driving control is switched to the
manual driving control or when a switch position of the operation
switch 16b is the AUTO position, the processor 33 may control the
wiper 22 in accordance with an operation situation of a wiper of
another vehicle around the vehicle 100.
[0093] In this case, for example, by inputting an image acquired
from the camera 11 to a classifier that has been trained in such a
way as to detect an oncoming vehicle and a wiper of the oncoming
vehicle represented in an image, the processor 33 detects an
oncoming vehicle around the vehicle 100 and a wiper thereof from
the input image. Then, the processor 33 calculates an angle of the
detected wiper with respect to a horizontal direction for each
oncoming vehicle represented in the image, and determines that the
wiper of the oncoming vehicle operates when the angle is equal to
or greater than a predetermined angle threshold value.
Alternatively, the classifier may have been trained in such a way
as to also determine whether or not a wiper is operating. In this
case also, the processor 33 can use, as the classifier, a so-called
deep neural network having a convolutional neural network
architecture, for example. Note that the classifier may have been
trained in accordance with a predetermined supervised learning
technique such as error back propagation by using a plurality of
supervised images representing a vehicle with a wiper during
operation and a plurality of supervised images representing a
vehicle with a wiper during stop. Further, a parameter set for
identifying the classifier, such as a weighting factor of an
individual node in each layer, may be previously stored in the
memory 32.
[0094] The processor 33 calculates a ratio of the number of
oncoming vehicles whose wiper is operating to a total number of
oncoming vehicles detected from each of a series of images acquired
in the latest certain period (e.g., 1 to 10 seconds). Then, when
the ratio is higher than a predetermined proportion (e.g., 0.4 to
0.6), the processor 33 controls the wiper 22 in such a way as to
operate the wiper 22 at a predetermined speed (e.g., a speed
corresponding to the Lo position). On the other hand, when the
ratio is equal to or less than the predetermined proportion, the
processor 33 controls the wiper 22 in such a way as to stop
operating the wiper 22. Further, the processor 33 may control the
wiper 22 in such a way that an operation speed of the wiper 22
becomes faster as the ratio is increased. In this case, for
example, a table representing a relationship between the ratio of
the number of oncoming vehicles with a wiper operating to a total
number of detected oncoming vehicles and the operation speed of the
wiper 22 may be previously stored in the memory 32, and the
processor 33 may determine the operation speed of the wiper by
referring to the table.
[0095] Furthermore, in a case where the wiper 22 continues the
visibility securing operation after the automated driving control
is switched to the manual driving control, when the ratio of the
number of vehicles with a wiper operating to a total number of
detected vehicles is equal to or less than the predetermined
proportion, the processor 33 terminates continuation of the
visibility securing operation of the wiper 22. Subsequently, the
processor 33 may control the wiper 22 in accordance with an
operation mode according to a switch position of the operation
switch 16b.
[0096] According to another modification example, the BODY-ECU 18
may transmit a signal (e.g., a continuation notification signal, a
mismatch notification signal, and the like) for notifying a driver
to the HMI 14 without passing through the traveling ECU 17, and may
display a message according to the signal on the HMI 14.
[0097] According to still another modification example, a BODY-ECU
may be separately provided for each piece of vehicle-mounted
equipment. For example, a BODY-ECU that controls the headlight 21,
a BODY-ECU that controls the wiper 22, and a BODY-ECU that controls
the air-conditioning device 23 may be separately provided. In this
case also, each of the BODY-ECUs may have a configuration similar
to that of the BODY-ECU 18 according to the embodiment or the
modification example described above, and may control corresponding
vehicle-mounted equipment according to the embodiment or the
modification example described above.
[0098] As described above, those skilled in the art may make
various changes in conformity to an embodiment within the scope of
the present disclosure.
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